documentation for optimal filtering toolbox for mathematical software package Matlab. The methods in the toolbox include Kalman filter, extended Kalman filter and unscented Kalman filter for discrete time state space models. Also included in the toolbox are the Rauch-Tung-Striebel and Forward-Backward smoother counter-parts for each filter, which can be used to smooth the previous state estimates, after obtaining new measurements. The usage and function of each method are illustrated with five demonstrations problems. 1

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